A control system for underwater rock drilling equipment

Abstract

The present application provides a control system for underwater rock drilling equipment, which relates to the field of underwater rock drilling technology. In this system, a host computer and a slave computer are communicatively connected; the host computer is used to receive real-time sensor data uploaded by the slave computer, and transmit the working parameter adjustment instructions corresponding to the real-time sensor data to the slave computer; the slave computer is used to adjust the working parameters of the rock drilling equipment according to the working parameter adjustment instructions and, after detecting an abnormality in the host computer, to perform state control on the rock drilling equipment or automatically switch to manual control after the rock drilling operation at the current rock drilling position is completed. The embodiment of the present application can achieve the adjustment of the working parameters of the rock drilling equipment through the cooperation of the host computer and the slave computer, realize the automatic control of the rock drilling equipment, reduce the involvement of manual control, reduce the workload and labor intensity of the operator, improve the safety factor and rock drilling efficiency, and the slave computer can take over the rock drilling equipment when the host computer is abnormal, realize the normal operation of the rock drilling equipment, and ensure the reliability of the rock drilling equipment.

Description

Technical Field

[0001] The present application relates to the technical field of underwater rock drilling, and in particular to an underwater rock drilling equipment control system. Background Art

[0002] During seabed trench excavation and channel regulation, underwater rocks need to be removed to meet the required navigation depth and trench excavation depth. Currently, the most commonly used method for underwater rock removal is the heavy hammer impact method.

[0003] When using the heavy hammer impact method to break rock, the drilling area must be divided into multiple drilling positions, and drilling operations must be performed at each drilling position one by one. Therefore, the drilling equipment must be moved accordingly to the changes in drilling positions. To improve the stability of the drilling equipment, existing drilling equipment is controlled manually. However, a single drilling area often contains a large number of drilling positions. Manual control results in a high workload and high intensity for the operator, with a low safety factor. Manual judgment of underwater drilling positions and results is also inaccurate and easily affected by personal conditions. Summary of the Invention

[0004] The present invention provides an underwater rock drilling equipment control system that addresses the problems of existing manually controlled rock drilling equipment, such as high labor intensity, high intensity, low safety factor, inaccurate judgment of underwater rock drilling position and effect, and susceptibility to personal influence. To achieve this goal, the present invention provides the following solutions.

[0005] According to one aspect of an embodiment of the present application, a control system for underwater rock drilling equipment is provided. The control system includes a host computer and a slave computer disposed in the rock drilling equipment. The rock drilling equipment includes a plurality of sensors that collect operating data of the rock drilling equipment to generate real-time sensor data. The host computer is in communication with the slave computer.

[0006] The upper computer is used to receive the real-time sensor data uploaded by the lower computer, adaptively generate an operating parameter adjustment instruction corresponding to the real-time sensor data, and transmit the operating parameter adjustment instruction to the lower computer;

[0007] The lower computer is used to automatically adjust the working parameters of the rock drilling equipment according to the working parameter adjustment instructions and, after detecting an abnormality in the upper computer, to control the state of the rock drilling equipment according to the adjusted working parameters or to automatically switch to manual control after the rock drilling operation at the current rock drilling position is completed.

[0008] In one possible implementation, the underwater rock drilling equipment control system includes a display interface, the sensor collects operating data of the rock drilling equipment to generate the sensor real-time data, and the sensor includes at least one of a locator, a luffing sensor, an effect sensing sensor, a hole entry sensor, and an encoder;

[0009] The host computer generates a working parameter adjustment instruction corresponding to the real-time data of the sensor, including:

[0010] The host computer obtains the operating data of the rock drilling equipment, displays the operating data through the display interface, and generates working parameter adjustment instructions corresponding to the operating data. The operating data is generated by the host computer based on the real-time data of the sensor, including at least one of the operating steps, operating status, regional excavation information, rock drilling effect information, and working parameters of the rock drilling equipment.

[0011] In one possible implementation, the sensor includes a locator for generating positioning information;

[0012] The host computer obtains the operation data of the rock drilling equipment, including:

[0013] The host computer generates rock drilling data corresponding to the positioning information, and stores the regional drilling information after each rock drilling is completed, the rock drilling data including at least one of a rock drilling trajectory, a rock drilling area, and a rock drilling path, and the regional drilling information including at least one of a rock drilling position, data information of the rock drilling position, an area formed by the rock drilling position, and a recommended rock drilling area.

[0014] In one possible implementation, displaying the operation data through the display interface includes:

[0015] Utilizing the host computer to receive an export instruction input based on the display interface;

[0016] The host computer is used to generate export data corresponding to the export instruction, and the export data includes at least one of a rock drilling data report and a rock drilling area picture.

[0017] In one possible implementation, the sensor further includes an effect sensing sensor, and the effect sensing sensor is provided in an underwater module for underwater rock drilling in the rock drilling equipment;

[0018] The host computer generates a working parameter adjustment instruction corresponding to the real-time data of the sensor, including:

[0019] controlling the underwater module to drill based on drilling information of a current drilling position, the drilling information including a drop height of the underwater module and predetermined reference parameters;

[0020] The host computer uses the effect perception sensor to obtain the acceleration change value of the underwater module;

[0021] If it is determined that the acceleration change value satisfies a first preset condition, the host computer generates a working parameter adjustment instruction instructing switching to a next rock drilling position, wherein the first preset condition includes the predetermined reference parameter.

[0022] In one possible implementation, the sensor includes an encoder, the rock drilling equipment includes a travel mechanism including at least two travel drive units, the travel drive units move in the same direction, the travel drive units include a driver, and the encoder is connected to an output end of the driver for collecting drive parameters of the driver;

[0023] Generating an operating parameter adjustment instruction corresponding to the real-time data of the sensor, including:

[0024] determining that the rock drilling equipment is to perform a walking operation, and generating a walking parameter adjustment instruction for instructing the walking mechanism to perform the walking operation, wherein the walking parameter adjustment instruction includes a walking parameter corresponding to the walking operation;

[0025] The encoder is used to obtain target driving parameters corresponding to a driver serving as a reference object, and driving parameters of other drivers are adjusted based on the target driving parameters.

[0026] In one possible implementation, the sensor includes a luffing sensor, the rock drilling equipment includes an above-water module provided with a luffing mechanism, the luffing mechanism includes a push-pull unit for implementing a luffing operation, and the luffing sensor is used to detect the displacement of a push-pull end of the push-pull unit to generate displacement information;

[0027] Generating an operating parameter adjustment instruction corresponding to the real-time data of the sensor, including:

[0028] determining that the rock drilling equipment is to perform a luffing operation, and generating a luffing parameter adjustment instruction instructing the luffing mechanism to perform a luffing operation, the luffing parameter adjustment instruction including a luffing parameter corresponding to the luffing operation;

[0029] The displacement information corresponding to the amplitude variation operation is obtained. If it is determined that the displacement information matches the amplitude variation parameter, the amplitude variation is determined to be completed, and the amplitude variation operation is ended.

[0030] In one possible implementation, the sensor further includes an entry hole sensor, the amplitude variation mechanism further includes a push-pull seat and a push-pull base, the push-pull unit is fixed to the push-pull base, the push-pull seat pin is fixed to the push-pull base, and is respectively connected to the bottom of the amplitude variation mechanism and the push-pull end of the push-pull unit, and the entry hole sensor is used to detect the fixed state of the push-pull seat to generate entry hole detection information;

[0031] The host computer generates a working parameter adjustment instruction corresponding to the real-time data of the sensor, including:

[0032] If it is determined according to the hole entry detection information that the pin shaft fixing the push-pull seat reaches the predetermined position, the upper computer generates a working parameter adjustment instruction corresponding to the real-time sensor data uploaded by the lower computer to control the operation of the rock drilling equipment.

[0033] In one possible implementation, the lower computer also includes a manual control module. After the underwater rock drilling equipment control system receives a manual control instruction and determines that a preset condition is met, the manual control module is used to receive the manually input instruction and execute the operation corresponding to the manually input instruction. The operation includes controlling at least one of the movement and rock drilling operation of the rock drilling equipment, and the preset condition includes completing self-test and initialization confirmation.

[0034] In one possible implementation, the receiving a manually input instruction by the manual control module and executing an operation corresponding to the manually input instruction includes:

[0035] If it is determined that the rock drilling equipment is not in a rock drilling cycle, the manual control module is used to execute an operation corresponding to the manually input instruction.

[0036] The beneficial effects of the technical solution provided by the embodiments of the present application are:

[0037] The underwater rock drilling equipment control system provided by the present application includes an upper computer and a lower computer arranged in the rock drilling equipment. The rock drilling equipment includes a plurality of sensors, which collect working data of the rock drilling equipment to generate real-time sensor data. The upper computer is communicatively connected to the lower computer; the upper computer is used to receive the real-time sensor data uploaded by the lower computer, adaptively generate working parameter adjustment instructions corresponding to the real-time sensor data, and transmit the working parameter adjustment instructions to the lower computer; the lower computer is used to automatically adjust the working parameters of the rock drilling equipment according to the working parameter adjustment instructions and, after detecting an abnormality in the upper computer, perform state control of the rock drilling equipment according to the adjusted working parameters or automatically switch to manual control after the rock drilling operation at the current rock drilling position is completed. The embodiment of the present application realizes the adjustment of the working parameters of the rock drilling equipment through the cooperation of the upper computer and the lower computer, realizes automatic control of the rock drilling equipment, reduces the participation of manual control, reduces the workload and labor intensity of the operator, improves the safety factor and rock drilling efficiency, and the lower computer can take over the rock drilling equipment when the upper computer is abnormal, realize the normal operation of the rock drilling equipment, and effectively ensure the working stability and reliability of the rock drilling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for describing the embodiments of the present application.

[0039] Figure 1 A structural diagram of the underwater rock drilling equipment control system provided in an embodiment of the present application;

[0040] Figure 2 A side view of a rock drilling apparatus provided in an embodiment of the present application;

[0041] Figure 3 A top view of a portion of the structure of the rock drilling equipment provided in an embodiment of the present application;

[0042] Figure 4 A top view of the first track in the walking track provided in an embodiment of the present application

[0043] Figure 5 A structural diagram of the amplitude variation mechanism provided in an embodiment of the present application;

[0044] Figure 6 A structural diagram of the walking mechanism provided in an embodiment of the present application;

[0045] Figure 7 This is a structural diagram of the walking drive unit provided in an embodiment of the present application.

[0046] Explanation of reference numerals: 101, hanging bracket; 1011, first bracket; 1012, boom length adjustment bracket; 102, traction rope; 103, boom length adjustment mechanism; 1031, push-pull unit; 1032, push-pull seat; 1033, boom length adjustment track; 104, walking chassis; 105, winch; 106, walking drive unit; 1061, driver; 1062, driving wheel; 1063, walking wheel; 107, walking track; 1071, removal pin; 21, rock hammer. DETAILED DESCRIPTION

[0047] The following describes the embodiments of the present application in conjunction with the accompanying drawings. It should be understood that the embodiments described below in conjunction with the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0048] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application mean that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements, and / or components, but do not exclude implementation as other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the present technical field. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, the element can be directly connected or coupled to the other element, or it can refer to the element and the other element establishing a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates implementation as "A," or implementation as "A," or implementation as "A and B."

[0049] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0050] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on, or combine with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0051] The underwater rock drilling equipment control system provided in this application is intended to solve at least one technical problem existing in the prior art.

[0052] The embodiment of the present application provides a control system for underwater rock drilling equipment, such as Figure 1-Figure 7 As shown, the underwater rock drilling equipment control system includes a host computer and a slave computer arranged in the rock drilling equipment. The rock drilling equipment includes a plurality of sensors, which collect the working data of the rock drilling equipment to generate real-time sensor data. The host computer is communicatively connected with the slave computer; the host computer is used to receive the real-time sensor data uploaded by the slave computer, adaptively generate working parameter adjustment instructions corresponding to the real-time sensor data, and transmit the working parameter adjustment instructions to the slave computer; the slave computer is used to automatically adjust the working parameters of the rock drilling equipment according to the working parameter adjustment instructions and, after detecting an abnormality in the host computer, perform state control on the rock drilling equipment according to the adjusted working parameters or automatically switch to manual control after the rock drilling operation at the current rock drilling position is completed.

[0053] Optionally, the host computer performs an initialization operation when it is started, and performs a self-test operation of the sensors during the initialization operation. The self-test operation includes detecting whether each sensor is online, reading data from the sensors, and cleaning data from some sensors.

[0054] In one embodiment, the lower computer is provided with an interface corresponding to the operating parameter adjustment instructions transmitted by the upper computer, and receives the operating parameter adjustment instructions through this interface. An upper computer abnormality includes at least one of a host computer crash, a malfunction, or a significant deviation between the uploaded real-time sensor data and the corresponding data transmitted by the upper computer (e.g., the difference between the same data is greater than a predetermined preset value). The lower computer pre-stores the operating parameters of the rock drilling equipment. Upon determining that the upper computer is abnormal, the lower computer controls the rock drilling equipment to continue operation and issue an alarm based on the stored operating parameters, or controls the rock drilling equipment to a safe stop based on the operating parameters (e.g., controlling the normal shutdown of various components of the rock drilling equipment). Furthermore, the lower computer also has a buzzer alarm function (e.g., transmitting an alarm signal to a designated object, or transmitting a predetermined alarm signal to the upper computer, prompting the upper computer to self-check or restart), thereby ensuring a certain degree of robustness between the upper and lower computer systems. The lower computer can exchange data with the upper computer. After the lower computer uploads the real-time sensor data to the upper computer for algorithm processing, the upper computer generates new, more effective operating parameters.

[0055] Optionally, the sensor collects working data of the rock drilling equipment to generate real-time sensor data, and the sensor includes at least one of a locator, an amplitude sensor, an effect sensing sensor, a hole entry sensor, and an encoder.

[0056] Optionally, the rock drilling equipment includes an above-water module provided with a winch 105, a traveling mechanism, a boom mechanism 103 and a positioning device, and an underwater module for underwater rock drilling, wherein, optionally, the traveling mechanism drives the underwater module to move in a manner perpendicular to the direction in which the boom mechanism 103 drives the underwater module to move.

[0057] In one embodiment, the surface module is installed on a ship, the traveling mechanism drives the underwater module to move along the direction of the ship, and the luffing mechanism 103 drives the underwater module to move in a direction close to or away from the ship's side (ie, perpendicular to the direction of the ship).

[0058] Optionally, the lower computer is mounted on the surface module, which is connected to the underwater module. The winch 105 provides the power to raise and lower the underwater module. The traveling mechanism and luffing mechanism 103 are used to move the underwater module, and the traveling mechanism and luffing mechanism 103 drive the underwater module in different directions. Sensors in the rock drilling equipment are used to collect operating data from the traveling mechanism, luffing mechanism 103, underwater module, and winch 105, generating corresponding real-time sensor data. The upper computer uses this real-time sensor data to generate operating parameter adjustment instructions for controlling the traveling mechanism, luffing mechanism 103, underwater module, and winch 105.

[0059] Optionally, the underwater rock drilling equipment control system includes a display interface, which is connected to a host computer, wherein the host computer generates working parameter adjustment instructions corresponding to real-time sensor data, including: the host computer obtains the operating data of the rock drilling equipment, displays the operating data through the display interface, and generates working parameter adjustment instructions corresponding to the operating data. The operating data is generated by the host computer based on the real-time sensor data, including at least one of the operating steps, operating status, regional drilling information (drilled areas and undrilled areas), drilling effect information (drilling effect curve chart), and working parameters (including returned and decentralized working parameters) of the rock drilling equipment.

[0060] In one embodiment, the display interface can be a data cabin interface. The host computer uses this interface to display the current operation steps or the operating status of the rock drilling equipment, the areas that have been drilled and those that have not been drilled, various parameters that have been sent back and forth, and graphs of the rock drilling effect. The host computer also receives real-time sensor data uploaded by the slave computer and issues corresponding operating parameter adjustment instructions to correct the rock drilling behavior.

[0061] Optionally, the sensor includes an encoder, the rock drilling equipment includes a walking mechanism provided with at least two walking drive units 106, the moving directions of the walking drive units 106 are the same, the walking drive units 106 include a driver 1061, and the encoder is connected to the output end of the driver 1061 for collecting the driving parameters (such as the rotational speed) of the driver 1061.

[0062] Optionally, the working parameter adjustment instruction is used to instruct the lower computer to adjust the working parameters of the rock drilling equipment, which working parameters include the redundant release of the winch 105, the number of rock drilling times of the underwater module, the walking parameters of the walking mechanism (such as the walking distance of the walking mechanism), the amplitude variation parameters of the amplitude variation mechanism 103, and at least one of the alarm management of the sensors in the amplitude variation mechanism 103.

[0063] Optionally, in order to facilitate the acquisition of data reports related to the rock drilling operation of the rock drilling equipment, the operation data is displayed through the display interface, including: using the host computer to receive export instructions based on the input of the display interface; using the host computer to generate export data corresponding to the export instructions, and the export data includes at least one of the rock drilling data report and the rock drilling area picture.

[0064] In one embodiment, a user inputs an export command through a display interface, and the host computer executes the data export operation according to the export command. The export operation can include Excel reports related to rock drilling data and images of intervals related to the rock drilling area. The Excel reports can include data such as the start and end time of rock drilling, the number of drilling times, data for each period during the rock drilling, curve data, and location information.

[0065] Optionally, the sensor further includes an effect sensing sensor, which is located in an underwater module of the rock drilling equipment used for underwater rock drilling. A host computer generates operating parameter adjustment instructions corresponding to the real-time sensor data, including: controlling the underwater module to drill based on drilling information at the current drilling position, the drilling information including the underwater module's drop height and a predetermined reference parameter; the host computer uses the effect sensing sensor to obtain an acceleration change value of the underwater module; and if the acceleration change value satisfies a first preset condition, the host computer generates an operating parameter adjustment instruction to switch to the next drilling position, wherein the first preset condition includes the acceleration change value being less than or equal to the predetermined reference parameter. The underwater module free-falls onto the water bottom, utilizing the impact energy of the underwater module to drill the rock. The predetermined reference parameter can be determined based on historical data from previous drilling operations of the rock drilling equipment, including the number of drilling operations required to achieve a fractured state for different rock formation strengths, the drop height of the underwater module, and the acceleration change value when the underwater module contacts the underwater rock after drilling is completed. The predetermined reference parameter is determined based on the acceleration change value when the underwater module contacts the underwater rock after drilling is completed.

[0066] Optionally, the rock drilling information may further include the number of rock drillings, and the corresponding information between the rock formation strength and the rock drilling times is obtained based on historical data; and the number of rock drillings at the current rock drilling position is determined based on the rock formation strength at the current rock drilling position and the corresponding information.

[0067] Optionally, the underwater module may be a jackhammer 21. Specifically, when the jackhammer 21 strikes rock, its head is downward and its tail is upward. The head is conical, and an effect sensing sensor is provided at the tail of the jackhammer 21. The effect sensing sensor detects acceleration data of the jackhammer 21 in real time and transmits it to a slave computer, which then transmits the acceleration data to a host computer.

[0068] Optionally, the acceleration change value is the acceleration change value of the jack hammer 21 from the time it contacts the rock formation (because the acceleration change value changes throughout the entire process, only the acceleration change value at the moment the jack hammer 21 contacts the rock formation may be obtained, and the acceleration change value is not limited to positive or negative). The effect sensing sensor collects the acceleration change value throughout the entire process and transmits the acquired acceleration change value to the host computer. After processing by the host computer, the acceleration change value is analyzed for the time period in which the acceleration change value exceeds a certain threshold. The acceleration change value when the jack hammer 21 contacts the rock formation is determined based on the analysis results.

[0069] Optionally, the acceleration change value of the underwater module may be obtained each time the underwater module drills the rock, or the acceleration change value may be obtained when it is determined that the number of drilling times at the current drilling position is consistent with the number of drilling times in the drilling information.

[0070] In one embodiment, the underwater module is a jackhammer 21, equipped with an effect sensing sensor at the rear of the jackhammer 21. The host computer uses this effect sensing sensor to collect acceleration data from the jackhammer 21. Based on this collected acceleration data, a preset algorithm (such as a neural network algorithm) is used to learn the strength of the rock formation. Based on the learning results, a predetermined reference parameter a is adaptively determined. (Reference parameter a is a reference value reflecting the rock formation fragmentation effect, provided by the host computer corresponding to the rock drilling equipment. This reference table indicates that the rock formation has been fragmented.) If the acceleration change value is greater than a, drilling continues. If the acceleration change value is less than or equal to a, the number of drilling times (x) is recorded and transmitted back to the host computer for processing. If this determines that the drilling has met the expected effect, an instruction is generated instructing the lower computer to proceed to the next drilling position for further drilling. Furthermore, by collecting data on drilling times and the corresponding rock strength, the required drilling times can be determined for a rock formation of a certain strength. Acceleration change data obtained after the initial drilling can then be used to determine the rock formation strength. The drilling times can then be automatically set based on the previously recorded drilling times for that strength. If the measured acceleration change at the set drilling times does not reach a predetermined reference parameter a, drilling is repeated until the parameter a is met, and the drilling times at that time are recorded.

[0071] Optionally, the sensor may include a locator for generating positioning information; the upper computer obtains the operating data of the rock drilling equipment, including: the upper computer generates rock drilling data corresponding to the positioning information, and stores the regional drilling information after each rock drilling is completed, the rock drilling data includes at least one of the rock drilling trajectory, the rock drilling area, and the rock drilling path, and the regional drilling information includes at least one of the drilled rock position, data information of the drilled rock position, the area formed by the drilled rock position, and the recommended rock drilling area.

[0072] In one embodiment, the locator includes a first locator, a second locator, and a third locator. The first locator is installed on a vessel, and the second and third locators are installed on an above-water module. The above-water module obtains the position information of the underwater module and the motion trajectory of the drilling equipment and the underwater module through positioning information. The host computer uses the positioning information of the locator to draw the drilling trajectory, delineate the drilling area, and plan the optimal drilling path. In addition, after each drilling is completed, the host computer can automatically enter the drilled location and corresponding data information, determine the area corresponding to the drilled location, and determine the area as a completed drilling state. This area can be used by the operator and the host computer to evaluate new drilling locations and provide recommended drilling areas.

[0073] Optionally, the second and third locators can be installed on the walking mechanism, wherein, to facilitate obtaining current position information, the projections of the second, third, and underwater modules can be located on the same straight line, with the projection of the first locator located on one side of the straight line.

[0074] Optionally, the first locator, the second locator and the third locator may be RTK (Real-time kinematic) locators, or GPS (Global Positioning System) locators and other devices that can be used for device positioning.

[0075] Optionally, the upper computer obtains positioning information of the first locator, the second locator and the third locator based on the data uploaded by the lower computer, and determines the direction of the ship, the drilling direction of the underwater module and the current position information of the underwater module based on the positioning information.

[0076] In one embodiment, the first locator can be located on the side of the surface module close to the bow. The orientation of the ship is determined based on the position of the first locator, and the current position of the surface module can be determined according to the positioning information of the positioning device. The direction in which the underwater module needs to move (i.e., the drilling direction) is determined based on the position and the target drilling position. In addition, the current position information of the underwater module can also be determined based on the relative position of the positioning device and the underwater module.

[0077] Optionally, the host computer can calculate the position information only based on the horizontal coordinate and the vertical coordinate in the positioning information, that is, it is preset that the first locator, the second locator and the third locator can be located on the same plane, and the position information of the underwater module can be the coordinates of the projection of the underwater module on the plane. The underwater module is moved using the coordinates so that the projection of the underwater module coincides with the target drilling position, thereby raising and lowering the underwater module to realize the drilling operation at the target drilling position.

[0078] In one embodiment, the distance between the projection of the underwater module on the horizontal plane where the first locator is located and the first locator is known, the first locator, the second locator and the third locator are located on the same horizontal plane, the coordinates of the first locator are (x1, y1), the coordinates of the second locator are (x2, y2), the coordinates of the third locator are (x3, y3), the coordinates of the projection of the underwater module on the plane where the first locator is located are (x, y), the distance between the projection of the underwater module and the third locator is h, and the projection is located on the line connecting the second locator and the third locator, the slope of the line is k, and the coordinates (x, y) of the underwater module are calculated based on h and k.

[0079] Optionally, each driver 1061 is provided with an encoder that records driving parameters of the driver 1061 (such as rotation speed, angular velocity, etc.).

[0080] In one embodiment, the driver 1061 can be a drive motor, and there can be multiple drive motors. The upper computer generates a working parameter adjustment instruction to control the operation of the drive motor based on the encoder data uploaded by the lower computer. The lower computer controls the multiple drive motors to work synchronously according to the working parameter adjustment instruction to drive the walking mechanism to move stably.

[0081] Optionally, when controlling the synchronous operation of the drive motor, the host computer determines a reference object in the encoder and synchronously controls the operation of the driver 1061 in the travel drive unit 106 based on the numerical value of the reference object, using the power of the driver 1061 to drive the underwater module to move. Generating operating parameter adjustment instructions corresponding to the real-time sensor data includes: determining that the rock drilling equipment is about to perform a travel operation, generating a travel parameter adjustment instruction instructing the travel mechanism to perform the travel operation, and the travel parameter adjustment instruction includes travel parameters corresponding to the travel operation (such as travel distance); using the encoder to obtain target drive parameters corresponding to the driver serving as the reference object, and adjusting the drive parameters of other drivers based on the target drive parameters.

[0082] In one embodiment, the number of walking drive units 106 is 4, and each walking drive unit 106 is provided with a corresponding driver 1061. The encoders are numbered a, b, c, and d, where a is used as a reference object. The host computer completes a self-test and initialization check of the encoder before the walking drive unit 106 moves, and records the initial value of the encoder. After the current position meets the rock drilling requirements, during the process of moving to the target rock drilling position (each time the walking mechanism works, the encoder needs to be calibrated and zeroed to make the walking drive unit 106 move synchronously), the values ​​of encoders b, c, and d are obtained, and compared with encoder a. According to the comparison results, the working parameters of the drivers 1061 corresponding to encoders b, c, and d are adjusted to ensure that the walking power of each driver 1061 is consistent.

[0083] Optionally, when the traveling mechanism moves, the underwater module can also be lifted at the same time.

[0084] Optionally, the walking mechanism also includes a walking track 107, and limit switches are provided at both ends of the walking track 107. The walking drive unit 106 moves along the walking track 107; the power of the driver 1061 is used to drive the underwater module to move, including: if it is determined that the walking drive unit 106 contacts the limit switch, the walking drive unit 106 is controlled to stop working.

[0085] Optionally, the traveling mechanism further includes a traveling chassis 104 , and traveling drive units 106 are provided at both ends of the traveling chassis 104 , and the traveling drive units 106 at both ends of the traveling chassis 104 are installed on different traveling tracks 107 .

[0086] Optionally, the travel track 107 includes a first track and a second track arranged in parallel, with the two ends of the travel chassis 104 located on the first track and the second track, respectively, and the two ends of the travel chassis 104 move synchronously along the first track and the second track. The first track and the second track are arranged in the direction of the ship to ensure that the rock drilling equipment moves in the direction of the ship.

[0087] In one embodiment, the structures of the first track and the second track may be the same, and may be an I-shaped structure.

[0088] Optionally, the travel drive unit 106 further includes a drive wheel 1062 , which is mounted on the top of the travel track 107 , and the output end of the driver 1061 is connected to the drive wheel 1062 , so that the travel mechanism can move on the travel track 107 through the rotation of the drive wheel 1062 .

[0089] Alternatively, the driving wheel 1062 may be a sprocket, and a row of pins 1071 matching the sprocket is provided at the top of the travel track 107. The row of pins 1071 includes first pins arranged at equal intervals, and the spacing of the first pins matches the tooth pitch of the sprocket. The cooperation between the row of pins 1071 and the sprocket provides the travel drive unit 106 with the force required to move on the travel track 107.

[0090] Optionally, the row pin 1071 further includes a first fixing member, which is disposed parallel to both sides of the first pin shaft, with the first pin shaft connected to different first fixing members at each end; the top of the first fixing member is higher than the height of the first pin shaft. A limit switch can be disposed at the top of the travel track 107, at both ends of the row pin 1071.

[0091] Optionally, in order to prevent the walking chassis 104 from tilting up or leaving the walking track 107, the two sides of the walking track 107 are recessed to form fixed grooves, and the length of the fixed grooves corresponds to the stroke length of the walking mechanism; the walking drive unit 106 includes at least one walking wheel 1063, and at least a portion of the walking wheel 1063 is located in the fixed groove to contact the walking track 107 when the walking chassis 104 is offset or tilted.

[0092] In one embodiment, the annular surface of the running wheel 1063 is opposite to the side of the fixing groove, and the entire running wheel 1063 is located in the fixing groove. Wherein, grooves can be provided on both sides of the second track and the first track, and a running wheel 1063 is provided in each groove.

[0093] Optionally, the above-water module includes a hanging bracket 101 and a traction rope 102, one end of the traction rope 102 is connected to the underwater module and passes through the top of the hanging bracket 101. The traction rope 102 transmits power to the underwater module through the top to drive the underwater module to rise and fall; the hanging bracket 101 includes a first bracket 1011 and a boom bracket 1012 that are rotatably connected at the top, and the boom mechanism 103 is connected to the bottom of the boom bracket 1012.

[0094] Optionally, the bottom of the first bracket 1011 is rotatably fixed to the end of the traveling chassis 104, and the bottom of the luffing bracket 1012 is movably fixed to the side of the traveling chassis 104 away from the traveling track 107. The first end of the first bracket 1011 is located on the side of the traveling chassis 104 close to the ship's side, and the second end extends away from the traveling chassis 104. A pulley is provided at the second end that matches the traction rope 102. The traction rope 102 is inserted into the pulley and its extension direction is changed by the pulley.

[0095] Optionally, a pulley may be provided at the first end of the first bracket 1011, and the traction rope 102 first passes through the pulley provided at the first end, and then passes through the pulley provided at the second end to adjust the extension direction of the traction rope 102 to extend toward the underwater module.

[0096] In one embodiment, the first bracket 1011 is an A-shaped frame, the first end of which is fixed to both sides of the same end of the traveling chassis 104, and the second end of which extends away from the traveling chassis 104. The luffing bracket 1012 can also be an A-shaped frame, which includes two pillars, and the bottom ends of the pillars are connected to different luffing mechanisms 103.

[0097] Optionally, the sensor includes a luffing sensor, and the luffing mechanism 103 includes a push-pull unit 1031. The push-pull end of the push-pull unit 1031 is used to push the bottom of the luffing bracket 1012. The luffing sensor is used to detect the displacement of the push-pull end and generate displacement information. The host computer generates an operating parameter adjustment instruction corresponding to the real-time sensor data, including: determining that the rock drilling equipment is to perform a luffing operation, generating a luffing parameter adjustment instruction instructing the luffing mechanism to perform the luffing operation, the luffing parameter adjustment instruction including the luffing parameter corresponding to the luffing operation; obtaining the displacement information corresponding to the luffing operation, and if it is determined that the displacement information matches the luffing parameter, determining that the luffing is complete and terminating the luffing operation. The luffing parameter includes travel information of the push-pull end.

[0098] In one embodiment, if the upper computer determines that the rock drilling equipment needs to perform a luffing operation to move the underwater module to the next rock drilling position based on the next rock drilling position, it generates a luffing parameter adjustment instruction and transmits the instruction to the lower computer. The lower computer controls the push-pull movement of the push-pull unit 1031 according to the luffing parameter adjustment instruction to change the position of the bottom of the luffing bracket 1012.

[0099] Optionally, the sensor includes a hole entry sensor. The luffing mechanism 103 includes a push-pull base and a push-pull seat 1032. The push-pull unit 1031 is fixed to the push-pull base. The push-pull seat 1032 is connected to the push-pull end of the push-pull unit 1031 and the bottom of the luffing bracket 1012, respectively. The push-pull seat 1032 is provided with a plurality of first pin holes for fixing the push-pull seat. The hole entry sensor detects the fixed state of the push-pull seat 1032 and generates hole entry detection information.

[0100] Optionally, the lower computer performs an amplitude change operation according to the amplitude change parameter adjustment instruction, including: pulling out the pin shaft that fixes the push-pull seat 1032, and determining the telescopic distance (i.e., stroke) of the push-pull end based on the amplitude change parameter adjustment instruction; controlling the push-pull end to push the push-pull seat 1032 to move on the push-pull base according to the telescopic distance; determining that the movement is completed, closing the push-pull unit 1031, and inserting the pin shaft into the push-pull seat 1032 and the first pin hole corresponding to the current position of the push-pull seat 1032 to fix the push-pull seat 1032.

[0101] Optionally, the push-pull end of the push-pull unit 1031 is connected to the bottom of the support column in the luffing bracket 1012 .

[0102] Optionally, the push-pull unit 1031 may be a push-pull cylinder or a screw-type stepper motor. The push-pull end of the push-pull unit 1031 can be extended and retracted to drive the struts of the variable amplitude bracket 1012, thereby changing the tilt angle of the struts. A variable amplitude sensor may be provided on the push-pull unit 1031 to detect the extension and retraction distance of the push-pull end.

[0103] Optionally, one side of the push-pull seat 1032 is connected to the push-pull end of the push-pull unit 1031. The push-pull unit 1031 is placed flat on the push-pull base, and the push-pull seat 1032 is driven to move along the push-pull base by the push-pull unit 1031.

[0104] Optionally, the push-pull base includes an amplitude-changing rail 1033, the push-pull seat 1032 is movably fixed to the amplitude-changing rail 1033, the first pin hole is provided on the side of the amplitude-changing rail 1033, and the side of the push-pull seat 1032 is provided with a second pin hole corresponding to the first pin hole, and the first pin hole and the second pin hole are used to insert a pin shaft to fix the push-pull seat 1032.

[0105] In one embodiment, the cross section of the amplitude changing track 1033 is rectangular, and the push-pull seat 1032 is sleeved on the amplitude changing track 1033 to prevent the push-pull seat 1032 from being separated from the amplitude changing track 1033 .

[0106] Optionally, there are two amplitude-changing rails 1033 , which are arranged in parallel, and a push-pull seat 1032 is correspondingly provided on each amplitude-changing rail 1033 ; the tops of the two pillars in the amplitude-changing bracket 1012 are connected, and the push-pull seats 1032 connected at the bottoms of the two pillars are different, and the number of push-pull units 1031 is also two, and a push-pull unit 1031 is provided on each amplitude-changing rail 1033 .

[0107] Optionally, the first pin holes are located within the travel of the push-pull end, the number of second pin holes can be one or more, and the first pin holes on the luffing track 1033 can be multiple groups, with the number of first pin holes in each group being the same as the number of second pin holes. Furthermore, the distances between different groups of first pin holes can be determined based on the position adjustment information of the underwater module during the rock drilling process.

[0108] Optionally, in order to increase the amplitude changing speed of the amplitude changing mechanism 103, the amplitude changing mechanism 103 also includes a pin shaft plug-in and pull-out member. When performing the amplitude changing operation, the pin shaft plug-in and pull-out member pulls out the pin shaft inserted into the second pin hole, and after the push-pull end moves to a predetermined position, the pin shaft is inserted into the second pin hole and the first pin hole corresponding to the second pin hole, and the push-pull seat 1032 is fixed to complete the amplitude changing operation.

[0109] Optionally, the upper computer generates working parameter adjustment instructions corresponding to the real-time sensor data, including: if it is determined based on the hole entry detection information that the pin shaft of the fixed push-pull seat 1032 has reached a predetermined position, the upper computer generates working parameter adjustment instructions corresponding to the real-time sensor data uploaded by the lower computer to control the operation of the rock drilling equipment.

[0110] Optionally, a hole entry sensor may be provided on the pin shaft plug-in member, the pin shaft or the amplitude-changing track 1033, and the hole entry sensor detects whether the pin shaft is inserted into the first pin hole and issues an alarm if it is detected that the pin shaft is not inserted into the first pin hole.

[0111] In one embodiment, the push-pull unit 1031 can be a push-pull cylinder that uses hydraulic power to work. The upper computer detects the telescopic distance of the push-pull end through the amplitude change sensor on the push-pull cylinder. The first pin hole corresponding to the initial position of the amplitude change is the pin hole a, and there are two other pin holes at positions b and c that are different from position a. When the amplitude change is required for operation, the pin shaft plug-in is disengaged from the pin hole a, the pin shaft is pulled out, and the pin shaft is moved to position b (or c) according to the amplitude change parameter adjustment instruction. The amplitude change sensor records the telescopic distance of the push-pull end of the push-pull cylinder. When the telescopic distance is ba (or ca) corresponding to the amplitude change parameter adjustment instruction, the pin shaft plug-in is controlled to insert the pin shaft into the pin hole at position b (or c) and the push-pull end, fix the push-pull unit 1031, and complete the amplitude change operation.

[0112] Optionally, a third pin hole is provided on the side of the push-pull unit 1031 away from the push-pull end; a plurality of fourth pin holes corresponding to the third pin hole are provided on the push-pull base, and the fourth pin holes are arranged at intervals. The third pin hole is opposite to the fourth pin hole corresponding to the current rock drilling position of the push-pull unit 1031 to insert the pin shaft for fixing the push-pull unit 1031.

[0113] In one embodiment, the fourth pin hole is set at the top of the amplitude changing track 1033, located at the end of the amplitude changing track 1033 away from the push-pull seat 1032. By adjusting the fourth pin hole through which the pin shaft is inserted, the fixed position of the push-pull unit 1031 is changed, thereby changing the range of movement of the push-pull seat 1032.

[0114] Optionally, after the upper computer determines that the underwater module is located above the target rock drilling position, it drives the winch 105 to lower the underwater module at a preset speed; obtains the water bottom depth based on the power value change information of the winch 105; and determines the redundant release amount corresponding to the target rock drilling position based on the water bottom depth and a predetermined index, and the redundant release amount includes the lowering amount of the traction rope 102 each time the underwater module is lowered.

[0115] Alternatively, the motor power value may be used to detect whether the motor power value has decreased. If it is determined to be decreasing, the power value may be detected to determine whether the decrease in a predetermined time period (e.g., 1 or 2 seconds) is greater than a predetermined value. If it is determined to be less than the predetermined value, the underwater module is determined to have touched the bottom of the water, the time during which the decrease is less than the predetermined value is recorded, and the depth of the seabed is calculated.

[0116] In one embodiment, the underwater module is a jack hammer 21. Before the winch 105 slowly lowers the jack hammer 21, the seabed depth value is reset to zero or the current value a is recorded. The motor is controlled to make the jack hammer 21 descend at a constant speed v, and the motor power P is monitored in real time (the power information can be obtained from the motor control box of the winch 105. When the jack hammer 21 hits the seabed, the lowering length data b is predicted by the change time of the motor power value, and the seabed depth is obtained by calculating ba. After obtaining the seabed depth data, the host computer introduces a predetermined index c (an adjustable The redundancy is a multiplier of the winch 105 payout length (c times the seabed depth, payout length s1 = (ba) * c, where c can be set to 1.05, 1.1, etc.) to control the redundancy of the winch 105 (to prevent damage to the cable when the jackhammer 21 falls and is lifted after the hammer is struck). The equipment then returns to the initial height (the height during hammer strike is initialized to 0) and, according to the pre-set operating sequence (hammer lift -> hammer strike -> trolley -> hammer lift -> hammer strike), controls the rock drilling equipment to begin drilling operations.

[0117] Optionally, the lower computer also includes a manual control module. After the underwater rock drilling equipment control system receives a manual control instruction and determines that the preset conditions are met, the manual control module is used to receive the manually input instructions and execute the operations corresponding to the manually input instructions. The operations include controlling at least one of the movement of the rock drilling equipment and rock drilling operations. The preset conditions include completing self-test and initialization confirmation.

[0118] Optionally, the self-check and initialization confirmation includes confirming that the sensor is normal, using the hole entry sensor to confirm that the push-pull seat 1032 is fixed to the variable amplitude track 1033, and other conditions that can ensure stable operation of the rock drilling equipment.

[0119] Optionally, in order to prevent manual operation from affecting the normal operation of the rock drilling equipment, the rock drilling control system also has an interlocking protection function, wherein a manual control module is used to receive manually input instructions and execute operations corresponding to the manually input instructions, including: if it is determined that the rock drilling equipment is not in a rock drilling cycle, the manual control module is used to execute operations corresponding to the manually input instructions.

[0120] In one embodiment, the rock drilling control system switches between manual and automatic control modes via a host computer, a slave computer, and a manual control module within the slave computer. This manual control module can be located in the control room of the rock drilling equipment, where operators operate the rock drilling equipment on-site. Before manual control is initiated, the system performs a self-check and initialization check to verify the functioning of the various sensors on the trolley and the position of the latches. Only after verification can operation commence. In manual mode, the manual control module includes an operating handle, which the operator uses to move the underwater module to the desired drilling location. The operator then performs the drilling operation according to the established program in the slave computer. The automatic rock drilling control system also incorporates a certain interlock protection feature, ensuring that the next manual operation can only be performed after a drilling cycle has completed.

[0121] The terms "first," "second," "third," "fourth," "1," "2," and the like (if any) in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than that shown or described in the drawings.

[0122] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the order of implementation of these steps is not limited to the order indicated by the arrows. Unless otherwise clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart can include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage in these sub-steps or stages can also be executed at different times respectively. Under different scenarios at the execution time, the execution order of these sub-steps or stages can be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0123] The above description is only an optional implementation method for some implementation scenarios of this application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of this application, the use of other similar implementation methods based on the technical ideas of this application also falls within the protection scope of the embodiments of this application.

Claims

1. A control system for underwater rock drilling equipment, characterized in that: The underwater rock drilling equipment control system includes a host computer and a slave computer arranged in the rock drilling equipment. The rock drilling equipment includes an above-water module provided with a traveling mechanism, an underwater module for underwater rock drilling, and a plurality of sensors. The above-water module is installed on a vessel, and the traveling mechanism is used to drive the underwater module to move. The sensor collects working data of the rock drilling equipment to generate real-time sensor data, the upper computer is communicatively connected to the lower computer, the sensor includes a locator for generating positioning information, the locator includes a first locator, a second locator and a third locator, the first locator is installed on the ship, the second locator and the third locator are installed on the walking mechanism, the second locator and the third locator are installed on the water module, the projections of the second locator, the third locator and the underwater module on the horizontal plane are located on the same straight line, and the projection of the first locator is located on one side of the straight line; The upper computer is configured to receive real-time sensor data uploaded by the lower computer and adaptively generate operating parameter adjustment instructions corresponding to the real-time sensor data, including: the upper computer obtaining positioning information of the first positioner, the second positioner, and the third positioner based on the data uploaded by the lower computer, determining the orientation of the ship, the drilling direction of the underwater module, and the current position information of the underwater module based on the positioning information to generate drilling data and issue an operating parameter adjustment instruction instructing the underwater module to move, wherein the drilling data includes at least one of a drilling trajectory, a drilling area, and a drilling path; Transmitting the operating parameter adjustment instruction to the slave computer; The lower computer is used to automatically adjust the working parameters of the rock drilling equipment according to the working parameter adjustment instructions and, after detecting an abnormality in the upper computer, to control the state of the rock drilling equipment according to the adjusted working parameters or to automatically switch to manual control after the rock drilling operation at the current rock drilling position is completed.

2. The underwater rock drilling equipment control system according to claim 1, characterized in that: The underwater rock drilling equipment control system includes a display interface, the sensor collects working data of the rock drilling equipment to generate the sensor real-time data, and the sensor includes at least one of a variable amplitude sensor, an effect perception sensor, a hole entry sensor, and an encoder; The host computer generates a working parameter adjustment instruction corresponding to the real-time data of the sensor, including: The host computer obtains the operating data of the rock drilling equipment through the real-time data of the sensor, displays the operating data through the display interface, and generates working parameter adjustment instructions corresponding to the operating data. The operating data is generated by the host computer based on the real-time data of the sensor, including at least one of the operating steps, operating status, regional excavation information, rock drilling effect information, and working parameters of the rock drilling equipment.

3. The underwater rock drilling equipment control system according to claim 2, characterized in that: The host computer obtains the operation data of the rock drilling equipment, including: The host computer generates rock drilling data corresponding to the positioning information, and stores the regional drilling information after each rock drilling is completed. The regional drilling information includes at least one of the drilled rock position, data information of the drilled rock position, an area formed by the drilled rock position, and a recommended rock drilling area.

4. The underwater rock drilling equipment control system according to claim 2, characterized in that: The displaying of the operation data through the display interface includes: Utilizing the host computer to receive an export instruction input based on the display interface; The host computer is used to generate export data corresponding to the export instruction, and the export data includes at least one of a rock drilling data report and a rock drilling area picture.

5. The underwater rock drilling equipment control system according to claim 2, characterized in that: The sensor includes an effect sensing sensor, and the effect sensing sensor is provided in an underwater module of the rock drilling equipment for underwater rock drilling; The host computer generates a working parameter adjustment instruction corresponding to the real-time data of the sensor, including: controlling the underwater module to drill based on drilling information of a current drilling position, the drilling information including a drop height of the underwater module and predetermined reference parameters; The host computer uses the effect perception sensor to obtain the acceleration change value of the underwater module; If it is determined that the acceleration change value satisfies a first preset condition, the host computer generates a working parameter adjustment instruction instructing switching to a next rock drilling position, wherein the first preset condition includes the predetermined reference parameter.

6. The underwater rock drilling equipment control system according to claim 2, characterized in that: The sensor includes an encoder, the rock drilling equipment includes a travel mechanism including at least two travel drive units, the travel drive units move in the same direction, the travel drive units include a driver, and the encoder is connected to an output end of the driver to collect drive parameters of the driver; Generating an operating parameter adjustment instruction corresponding to the real-time data of the sensor, including: determining that the rock drilling equipment is to perform a walking operation, and generating a walking parameter adjustment instruction for instructing the walking mechanism to perform the walking operation, wherein the walking parameter adjustment instruction includes a walking parameter corresponding to the walking operation; The encoder is used to obtain target driving parameters corresponding to a driver serving as a reference object, and driving parameters of other drivers are adjusted based on the target driving parameters.

7. The underwater rock drilling equipment control system according to claim 2, characterized in that: The sensor includes a luffing sensor, the rock drilling equipment includes an above-water module provided with a luffing mechanism, the luffing mechanism includes a push-pull unit for implementing a luffing operation, and the luffing sensor is used to detect the displacement of a push-pull end of the push-pull unit to generate displacement information; Generating an operating parameter adjustment instruction corresponding to the real-time data of the sensor, including: determining that the rock drilling equipment is to perform a luffing operation, and generating a luffing parameter adjustment instruction instructing the luffing mechanism to perform a luffing operation, the luffing parameter adjustment instruction including a luffing parameter corresponding to the luffing operation; The displacement information corresponding to the amplitude variation operation is obtained. If it is determined that the displacement information matches the amplitude variation parameter, the amplitude variation is determined to be completed, and the amplitude variation operation is ended.

8. The underwater rock drilling equipment control system according to claim 7, characterized in that: The sensor also includes an entry hole sensor, the amplitude variation mechanism also includes a push-pull seat and a push-pull base, the push-pull unit is fixed to the push-pull base, the push-pull seat pin is fixed to the push-pull base, and is respectively connected to the bottom of the amplitude variation mechanism and the push-pull end of the push-pull unit, the entry hole sensor is used to detect the fixed state of the push-pull seat to generate entry hole detection information; The host computer generates a working parameter adjustment instruction corresponding to the real-time data of the sensor, including: If it is determined according to the hole entry detection information that the pin shaft fixing the push-pull seat reaches the predetermined position, the upper computer generates a working parameter adjustment instruction corresponding to the real-time sensor data uploaded by the lower computer to control the operation of the rock drilling equipment.

9. The underwater rock drilling equipment control system according to claim 2, characterized in that: The lower computer also includes a manual control module. After the underwater rock drilling equipment control system receives a manual control instruction and determines that a preset condition is met, the manual control module is used to receive the manually input instruction and execute the operation corresponding to the manually input instruction. The operation includes controlling at least one of the movement of the rock drilling equipment and the rock drilling operation. The preset condition includes completing self-test and initialization confirmation.

10. The underwater rock drilling equipment control system according to claim 9, characterized in that: The receiving of manually input instructions by the manual control module and executing operations corresponding to the manually input instructions include: If it is determined that the rock drilling equipment is not in a rock drilling cycle, the manual control module is used to execute an operation corresponding to the manually input instruction.

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